// Copyright (c) 2018, Bosch Software Innovations GmbH.
// All rights reserved.
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//      notice, this list of conditions and the following disclaimer.
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#ifndef MOCK_FRAME_TRANSFORMER_HPP_
#define MOCK_FRAME_TRANSFORMER_HPP_

#include <gmock/gmock.h>

#include <memory>
#include <string>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "rviz_common/transformation/frame_transformer.hpp"
#include "rviz_common/ros_integration/ros_node_abstraction.hpp"

class MockFrameTransformer : public rviz_common::transformation::FrameTransformer
{
public:
  MOCK_METHOD2(
    initialize, void(
      rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node,
      rclcpp::Clock::SharedPtr clock));
  MOCK_METHOD0(clear, void());
  MOCK_CONST_METHOD0(getAllFrameNames, std::vector<std::string>());
  MOCK_METHOD2(
    transform, geometry_msgs::msg::PoseStamped(
      const geometry_msgs::msg::PoseStamped & pose_in, const std::string & frame));
  MOCK_CONST_METHOD3(
    lookupTransform, geometry_msgs::msg::TransformStamped(
      const std::string & target_frame,
      const std::string & source_frame,
      const tf2::TimePoint & time));
  MOCK_CONST_METHOD5(
    lookupTransform, geometry_msgs::msg::TransformStamped(
      const std::string & target_frame,
      const tf2::TimePoint & target_time,
      const std::string & source_frame,
      const tf2::TimePoint & source_time,
      const std::string & fixed_Frame));
  MOCK_CONST_METHOD4(
    canTransform, bool(
      const std::string & target_frame,
      const std::string & source_frame,
      const tf2::TimePoint & time,
      std::string * error_msg));
  MOCK_CONST_METHOD6(
    canTransform, bool(
      const std::string & target_frame,
      const tf2::TimePoint & target_time,
      const std::string & source_frame,
      const tf2::TimePoint & source_time,
      const std::string & fixed_frame,
      std::string * error_msg));
  MOCK_METHOD5(
    waitForTransform, tf2_ros::TransformStampedFuture(
      const std::string & target_frame,
      const std::string & source_frame,
      const tf2::TimePoint & time,
      const tf2::Duration & timeout,
      tf2_ros::TransformReadyCallback callback));
  MOCK_METHOD1(cancel, void(const tf2_ros::TransformStampedFuture & ts_future));
  MOCK_CONST_METHOD2(frameHasProblems, bool(const std::string & frame, std::string & error));
  MOCK_METHOD0(
    getConnector,
    rviz_common::transformation::TransformationLibraryConnector::WeakPtr());
};

#endif  // MOCK_FRAME_TRANSFORMER_HPP_
